Assignment SCE503

ASSIGNMENT PRESENTATION
LINEAR CONTROL SYSTEMS
Anuttara Sharma
FT-2018 Batch, Reg. No.: 18ETEE035001
M. Tech. in Sensors and Control System Engineering
Module Leader: Dr. Shama

Module Name: Linear Control Systems
Module Code : SCE-503
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Faculty of Engineering & Technology © Ramaiah University of Applied Sciences
MARKING SCHEME
Head Maximum Score
Technical Content 5
Grasp and Explanation 5
Quality of Slides and Delivery 5
Q&A 5
Total 20
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PRESENTATION OUTLINE
• Suspension system for Indian Roads
• Mathematical Model of Suspension system
• Design of full state feedback controller
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Part-A
Suspension System for Indian Roads
• The system of mechanical linkages, springs and dampers that is
used to connect the wheels and axles to the chassis is known as
suspension system.
• It controls the vehicle’s handling and braking for safety and keeps
the passengers comfortable from bumps and vibrations due to the
road conditions.
• Passive suspension system performance depends solely upon the
road quality, as it transfers the road shock energy directly to the
vehicle body whereas the active suspension system comprises of a
controller that can generate a counter force for the road shocks to
isolate the body from the road bumps.
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Linear Control Techniques
Technique Description
Electromechanical Active Body control This technique has an electromechanical spindle drive and
an accumulator spring along with the suspension spring
that is used to generate counter forces.[1]
Twin Accumulator Suspension It has hydro-pneumatic semi-active damper with a variable

damping coefficient and parallel coil spring which can
change the damping of the system reducing the effect of
external disturbances.[2]
Hydraulic Active Suspension A radial piston hydraulic pump is used to generate

hydraulic pressure to exert force on the suspension for
improving the ride quality. Vehicle level and body
movement is continually monitored by sensors.
MacPherson Suspension MacPherson strut has compression link stabilized by a

secondary link which is attached to axle. It is designed for
each wheel and provides the front suspension to a vehicle.
Leaf Spring Suspension It is the earliest form of springing with layers of arc shaped
length offspring steel of rectangular cross section.
Generally, used for heavy load vehicles as it can spread
load the load over the vehicle chassis.
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Justification on the Stance Taken and Conclusion:
• The active suspension system generates a counter force and the

variable damping is provided by a semi-active suspension system. It
gives a comfortable ride quality by adjusting according to the road
conditions and stabilizes the vehicle in motion.
• The system of the passive suspension has springs and dampers
which serve in discomfort during motion.
• In India, potholes and bumps are a part of the road. It is better to
stay safe while driving and take necessary precautions before
hitting the road.
• On India roads, Active suspension system in the vehicle can
facilitate such a ride comfort that a passive suspension system can
never provide.
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Part-B
Mathematical Modelling of Suspension System
Figure 2.1: Active suspension system model
According to the Newton’s law, equations of motion describing the

system are:
𝑢 = 𝑀₁Ẍ₁ + 𝑏₁ (Ẋ₁ − Ẋ₂) + 𝐾₁ (𝑋₁ − 𝑋₂)
𝑢 + 𝑀₂Ẍ₂ + 𝑏₁ (Ẋ₂ − Ẋ₁) + 𝐾₁ (𝑋₂ − 𝑋₁) + 𝑏₂ (Ẋ₂ − Ẇ) +
𝐾₂ (𝑋₂ − 𝑊) = 0
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There are three forces acting on the body mass M₁, force from the
spring K₁, force due to damper B₁ and control input force u.
Ẍ₁ = −𝑏₁/𝑀₁(Ẋ₁ − Ẋ₂) − 𝐾₁/𝑀₁(𝑋₁ − 𝑋₂) + 𝑢/𝑀₁
Figure 2.2 Forces acting on the mass M₁
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There are five forces acting on the suspension mass M₂.
Ẍ₂
= −𝑏₁/𝑀₂ (Ẋ₂ − Ẋ₁) − 𝐾₁/𝑀₂ (𝑋₂ − 𝑋₁) − 𝑏₂/𝑀₂ (Ẋ₂ − Ẇ)
− 𝐾₂/𝑀₂ (𝑋₂ − 𝑊) − 𝑢/𝑀₂
Figure 2.3 Forces acting on the mass M₂

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The Simulink model for the active suspension system is:
Figure 2.4 Simulink model for the suspension system 10

Open Loop Simulation
• An appropriate time for simulation is set as 60 sec.
• The system parameter values are entered in the MATLAB command
prompt.
• Assuming the road disturbance to be negligible (W=0), unit step
response of the system is obtained from the scope block.
• The open loop response as shown in figure 2.5, is an underdamped
response.
Figure 2.5 Open Loop Response in the Scope 11

• To check the obtained open loop response, state space model of
the system is obtained from the Simulink model using ’linmod’
command.
• The unit step block is exchanged with in1 block and out1 block is
placed after removing scope block.
• Transfer function is obtained from the state space model and step
response is generated.
Figure 2.6 Open Loop Response from Estimated Linear Model 12

Result Analysis
• To verify the results obtained through open loop simulation, we can
generate the step response from system transfer function for input
‘u’.
• Transfer function can be obtained from Laplace transform of the
equations of motion.
• When considering road to be a flat surface (Road disturbance,
W=0), the transfer function for the system is obtained as:
(𝑋₁(𝑠) − 𝑋₂(𝑠))/𝑈(𝑠) = ((𝑀₁ + 𝑀₂)𝑠² + 𝑏₂𝑠 + 𝐾₂)/𝛥
where, Δ = (𝑀₁𝑠² + 𝑏₁𝑠 + 𝐾₁) ∗ (𝑀₂𝑠² + 𝑏₁ + 𝑏₂ 𝑠 +

(𝐾₁ + 𝐾₂)) − (𝑏₁𝑠 + 𝐾₁) ∗ (𝑏₁𝑠 + 𝐾₁)
• The transfer function for the control input is generated in MATLAB.

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Figure 2.7 Transfer Function Generation
• Step response is generated from the transfer function.

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Figure 2.8 Open Loop Step Response obtained from transfer function
• The obtained step response matches with the step response from
the scope in Simulink model and step response generated through
the linear model estimation. Hence, the result is verified.
• The system has a poor open loop configuration having a settling
time of 34.1 seconds and overshoot of 80.8%.
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Part-C
Design of Full State Feedback Controller
• To improve the system characteristics, a full state feedback
controller will be designed to reduce the overshoot to 5% and
setting time to 5 seconds.
• The state space representation for the Bus suspension system is
obtained from the equations of motion describing the system.
Figure 3.1 State Space Representation in MATLAB

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• In a full state feedback controller, all the states are fed back as the
plant input.
• The integral state can also be used in the controller as a fifth state.
So the A and B matrix dimensions need to be updated as shown in
figure 3.2.
Figure 3.2 State space representation with 5 states
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• The specified overshoot and settling time yield a complex pair of
poles: -2+4.58i, -2-4.58i.
• Assuming three other poles at -30,-60 and -70, we have 5 poles
altogether to place.
• Using Ackermann’s formula, we obtain the K-matrix.
Figure 3.3 K matrix
• K is a full state feedback matrix which is used to improve the gain of

each output of the plant system to feedback them to the input
again, so that the error can be minimized.
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• Closed loop system response is obtained as shown in figure 3.4.
Figure 3.4 Closed loop response
• The settling time is improved by the closed loop system but desired
overshoot is not achieved.
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Closed Loop Simulation
• In Simulink model, the closed loop design consists of the subsystem
block in which the open loop block diagram is copied.
Figure 3.5 Closed loop system
• All the states are fed back through the K matrix as shown in figure
3.5. 20
Inside the Subsystem Block
• Output required from the system is taken through ‘out’ block and
input is provided to the ‘in’ block. All the ports should be numbered
correctly in input as well as output.
Figure 3.6 Inside of the subsystem block

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• As K gain block value is updated, simulation can be performed for a
shorter duration of 5 seconds.
• The output is observed from the scope block as shown in figure 3.7.
Figure 3.7 Closed loop response
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Result Analysis
• The closed loop response of the active suspension system is settling
around 3 seconds as seen from the scope block in Simulink model
(figure 3.7).
• The simulation result of closed loop analysis (figure 3.4) has a

settling time of 1.64 seconds.
• The closed loop response of the system is improved over open loop
response against settling time parameter, but the overshoot
requirements are not met.
• The gain matrix should be improved to obtain desired results.

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References
[1] Martin Muenster et. al. Electromechanical Active Body Control.
https://www.researchgate.net/publication/296940679. April 2018.
[2] Ahmad O. Moaaz. and Ali M. Abd El-Tawwab. Journal of American

Science. Experimental Measurement of Hydro-Pneumatic Semi-Active
Damper Characteristics and Studying Its Effects on Vehicle Ride
Comfort. 2012.
[3] http://morth.nic.in/index2.asp
[4] Active Suspension Systems.

https://en.wikipedia.org/wiki/Actuator/. Accessed on 30 March 2019.
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Assignment SCE503

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ASSIGNMENT PRESENTATION

LINEAR CONTROL SYSTEMS

Module Leader: Dr. Shama

Grasp and Explanation 5

Quality of Slides and Delivery 5

• Mathematical Model of Suspension system

• Design of full state feedback controller

Twin Accumulator Suspension It has hydro-pneumatic semi-active damper with a variable

Hydraulic Active Suspension A radial piston hydraulic pump is used to generate

MacPherson Suspension MacPherson strut has compression link stabilized by a

• The active suspension system generates a counter force and the

Figure 2.1: Active suspension system model

According to the Newton’s law, equations of motion describing the

Figure 2.2 Forces acting on the mass M₁

Figure 2.3 Forces acting on the mass M₂

Figure 2.4 Simulink model for the suspension system 10

Figure 2.5 Open Loop Response in the Scope 11

Figure 2.6 Open Loop Response from Estimated Linear Model 12

where, Δ = (𝑀₁𝑠² + 𝑏₁𝑠 + 𝐾₁) ∗ (𝑀₂𝑠² + 𝑏₁ + 𝑏₂ 𝑠 +

• The transfer function for the control input is generated in MATLAB.

• Step response is generated from the transfer function.

Figure 3.1 State Space Representation in MATLAB

Figure 3.2 State space representation with 5 states

Figure 3.3 K matrix

• K is a full state feedback matrix which is used to improve the gain of

Figure 3.4 Closed loop response

Figure 3.5 Closed loop system

Figure 3.6 Inside of the subsystem block

Figure 3.7 Closed loop response

• The simulation result of closed loop analysis (figure 3.4) has a

• The gain matrix should be improved to obtain desired results.

[2] Ahmad O. Moaaz. and Ali M. Abd El-Tawwab. Journal of American

[4] Active Suspension Systems.

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